CN107139779B - The control method of guide rail electric car - Google Patents
The control method of guide rail electric car Download PDFInfo
- Publication number
- CN107139779B CN107139779B CN201710378964.3A CN201710378964A CN107139779B CN 107139779 B CN107139779 B CN 107139779B CN 201710378964 A CN201710378964 A CN 201710378964A CN 107139779 B CN107139779 B CN 107139779B
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- Prior art keywords
- control unit
- instruction
- traction
- vehicle
- headstock
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
- B60L15/2009—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for braking
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L9/00—Electric propulsion with power supply external to the vehicle
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Sustainable Development (AREA)
- Sustainable Energy (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The present invention is a kind of control method of guide rail electric car.Solve the problem of that its control method of this new traffic tool of guide rail electric car still belongs to blank.The present invention includes two identical traction control units and principal and subordinate each other, if some control unit device fault, then system is switched to another control unit instead of head vehicle, complete head Che Gongneng, guarantee that vehicle can be reliably safely operated, The present invention gives a kind of control methods of guide rail electric car, have replenished the blank in field.This method can guarantee that vehicle is reliable, is safely operated.
Description
Technical field
The present invention is a kind of control method of guide rail electric car.
Background technique
Due to the rapid development of modern industry, lead to that environmental pollution is serious, in order to advocate environmental consciousness, is replaced using electric energy
Non-renewable energy resources become the developing direction of Current traffic vehicular field.Present light rail electrical car because of its zero-emission, pollution is small, makes an uproar
The features such as sound is low, passenger capacity is big, flexible and convenient is increasingly becoming the focus of numerous carshop's researchs.
Guide rail electric car is a kind of new traffic tool, and between bus and tramcar, vehicle uses function
Rubber tyre, single-track running.Infrastructure as needed for it is simple, reduce investment outlay, climbing capacity is strong, can be applied to sightseeing scenic spot
Equal places.
The control method of guide rail electric car possesses highest priority as the brain of vehicle in the operation of entire electric car,
Control entire guide rail electric car dynamical system and its important subassembly, be related to the safety of entire guide rail electric car, and guide rail
The control method of electric car is in development phase both at home and abroad at present.
Summary of the invention
The present invention is directed to this new traffic tool of guide rail electric car, provides a kind of control method of guide rail electric car.
The present invention is achieved by the following technical scheme: guide rail electric car includes former and later two headstocks, have in each headstock
One traction control unit (traction control unit, abbreviation TCU) and the traction inversion for being controlled by traction control unit
Device, the traction control unit in each headstock and the traction control unit between the operation bench of two headstocks and in two headstocks
Between have signal transmission line；Guide rail electric car further includes high-voltaghe compartment, has in high-voltaghe compartment and is controlled by traction control unit and corresponds to
The contactor of different electrical power given way (storage battery power supply, workshop power supply power supply, power grid power supply).The above-mentioned hardware of guide rail electric car
Structure etc. is well known to those skilled in the art.The control method of guide rail electric car of the present invention is substantially in each headstock
Traction control unit control software.The control method of guide rail electric car is realized by following steps:
Traction control unit in each headstock obtains electric, is initialized, subsequently into low-voltage equipment self-test state；If
It detects failure, corresponding traction invertor is forbidden to work, and self-test again；If not detecting failure, system
Self-test is completed, and selection head vehicle is waited after the completion of self-test.
The traction control unit of certain side headstock detects that key pushes the position " ON " from " OFF ", then the side-lining controls
Unit is used as head vehicle control unit, the traction control unit of other side headstock from vehicle control unit；If certain side headstock
Traction control cell failure is then replaced being used as head vehicle control unit by the traction control unit of other side headstock, completes head Che Gong
Can, to overcome the problems, such as because of the device failure in some traction control unit caused by vehicle paralyse, guarantee vehicle can be reliably
Safe operation.Head vehicle, from vehicle control unit determine after, manipulation instruction can only be given by head vehicle, from vehicle malfunction given finger
It enables, the instruction is as illegal command.
Head vehicle control unit detects contactor switch knob signal (from headstock operation bench), makes contactor in high-voltaghe compartment
Closure, high-voltage electricity from high-voltaghe compartment enter a vehicle and from the input terminals of vehicle traction invertor；Guide rail electric car enters operation armed state；
If the contactor in high-voltaghe compartment is closed failure, vehicle selection to the end is returned, resumes waiting for a vehicle selection.
Head vehicle control unit and the instruction from headstock control room is detected from vehicle control unit, and executed instruction.
The present invention gives a kind of control methods of guide rail electric car, have replenished the blank in field.This method can guarantee vehicle
Reliable, safe operation.
Detailed description of the invention
Fig. 1 is the circuit diagram of guide rail electric car；
Fig. 2 is the flow chart of control method of the present invention.
Specific embodiment
The control method of guide rail electric car is realized by following steps:
Traction control unit in each headstock obtains 24V direct current, is initialized, and when initialization, sets a state
Variable step, initial value are given as 1, and the traction control unit in each headstock detects step=1, into low-voltage equipment self-test
State, i.e., detect respectively respective terminal state, main contactor state, contactor state in high-voltaghe compartment, pre-charge contactor state,
DC bus-bar voltage state, motor threephase stator current status, accelerator pedal signal state, brake range state；If detection
To in the event of failure, report self-test is not completed, and returns to starting end self-test again；If enabling step=2 without failure, in each headstock
Traction control unit detect step=2, illustrate that self-test has been completed, a vehicle can be carried out and selected.
The traction control unit of certain side headstock detects that key pushes the position " ON ", the traction control of the side headstock from " OFF "
Unit processed sends an instruction equal to 1, the traction control unit of other side headstock to the traction control unit of other side headstock
After receiving instruction, recognize that the traction control unit of certain side headstock is head vehicle control unit, while feeding back an instruction equal to 0；
The instruction 1 received is combined into 10 signals with the instruction 0 sent by the traction control unit of other side headstock, confirms other side headstock
Traction control unit be from vehicle control unit；The traction control unit of certain side headstock is by the instruction 0 received with the instruction 1 sent
It is combined into 01 signal, confirms that the traction control unit of certain side headstock is a vehicle control unit；If the traction control of certain side headstock
Cell failure causes the traction control unit of other side headstock not receive the instruction equal to 1 and default the instruction received equal to 0
(confiscating instruction, then instruction is 0), then the traction control unit of other side headstock is anti-to the traction control unit of certain side headstock
The instruction 0 received is combined into 01 with the instruction 1 sent by the traction control unit of feedback one instruction equal to 1, other side headstock
The traction control unit of signal, confirmation other side headstock is a vehicle control unit；The traction control unit of certain side headstock receives
In 1 instruction, the instruction 1 received is combined into 10 signals with the instruction 0 sent, confirms that the traction control unit of certain side headstock is
From vehicle control unit.
Head vehicle control unit detects that contactor switch knob signal is 001 signal, and explanation is traction accumulator power supply, makes
Contactor closure corresponding with storage battery power supply in high-voltaghe compartment；Head vehicle control unit detects that contactor switch knob signal is
010 signal, explanation are workshop power supply power supplies, make contactor closure corresponding with workshop power supply power supply in high-voltaghe compartment；Head vehicle control
Unit detects that contactor switch knob signal is 100 signals, and explanation is power grid power supply, makes corresponding with power grid power supply in high-voltaghe compartment
Contactor closure；In high-voltaghe compartment after the completion of contactor closure, sets a vehicle and indicate from the power supply of vehicle control unit selection ok
Power_flag is 1；Illustrate that high-voltage electricity has arrived at the input terminal of a vehicle and the traction invertor from vehicle.If high-voltaghe compartment
Interior contactor is closed failure, and setting a vehicle and selecting ok mark power_flag from the power supply of vehicle control unit is 0, and is returned to
Head vehicle selection resumes waiting for a vehicle selection.
Head vehicle control unit and precharging signal is detected from vehicle control unit, if precharge failure, in situ to wait, and reported
Preliminary filling electric fault out；If precharge is completed, guide rail electric car enters operation armed state.
Head vehicle control unit and from vehicle control unit detection direction instruct, if not detecting that the direction from head vehicle refers to
It enables, then exits the program, clap detection direction again to next；It is instructed if detected from the direction that head vehicle gives,
Carry out next step emergency braking judgement.
Head vehicle control unit and from vehicle control unit detection emergency braking instruction, if detect from head vehicle give
Emergency braking instruction, then execute emergency braking relevant action, executed backed off after random；If do not detect from head vehicle give
Emergency braking instruction, then carry out next step emergency operating judgement.
Head vehicle control unit and from vehicle control unit detection emergency operating instruction, if detect from head vehicle give
Emergency operating instruction, then execute emergency operating relevant action, executed backed off after random；If do not detect from head vehicle give
Emergency operating instruction then carries out braking enabled judgement in next step；
Head vehicle control unit and from the enabled instruction of vehicle control unit detection braking gives if detected from head vehicle
The enabled instruction of braking, then the relevant action of actuating motor damped condition, has executed backed off after random；If do not detected from head vehicle
The enabled instruction of given braking then carries out drawing enabled judgement in next step；
Head vehicle control unit and from the enabled instruction of vehicle control unit detection traction gives if detected from head vehicle
The enabled instruction of traction, then the relevant action of actuating motor traction working condition, returns to the detection of the enabled instruction of traction after having executed；If
The enabled instruction of traction given from head vehicle is not detected, then back to the detection of the enabled instruction of braking.
Claims (6)
1. a kind of control method of guide rail electric car, it is characterised in that realized by following steps:
Traction control unit in each headstock obtains electric, is initialized, subsequently into low-voltage equipment self-test state；If detection
To failure, corresponding traction invertor is forbidden to work, and self-test again；If not detecting failure, System self-test
It completes, selection head vehicle is waited after the completion of self-test；
The traction control unit of certain side headstock detects that key pushes the position " ON " from " OFF ", then the side-lining control unit
As head vehicle control unit, the traction control unit of other side headstock is used as from vehicle control unit；If the traction of certain side headstock
Control unit failure is then replaced being used as head vehicle control unit by the traction control unit of other side headstock；Head vehicle controls list from vehicle
After member determines, manipulation instruction can only be given by head vehicle, be malfunctioned from vehicle given instruction, the instruction is as illegal command；
Head vehicle control unit detects contactor switch knob signal, is closed contactor, and high-voltage electricity is from high-voltaghe compartment
Into head vehicle and from the input terminal of vehicle traction invertor；Guide rail electric car enters operation armed state；If the contact in high-voltaghe compartment
Device closure failure, then return to vehicle selection to the end, resumes waiting for a vehicle selection；
Head vehicle control unit and the instruction from headstock control room is detected from vehicle control unit, and executed instruction；
The traction control unit of certain side headstock detects that key pushes the position " ON ", the traction control list of the side headstock from " OFF "
Member sends an instruction equal to 1 to the traction control unit of other side headstock, and the traction control unit of other side headstock receives
After instruction, recognize that the traction control unit of certain side headstock is head vehicle control unit, while feeding back an instruction equal to 0；It is another
The instruction 1 received is combined into 10 signals with the instruction 0 sent by the traction control unit of side headstock, and confirmation other side headstock is led
Drawing control unit is from vehicle control unit；The traction control unit of certain side headstock combines the instruction 0 received with the instruction 1 sent
At 01 signal, confirm that the traction control unit of certain side headstock is a vehicle control unit；If the traction control unit of certain side headstock
Failure causes the traction control unit of other side headstock not receive the instruction equal to 1 and default the instruction received equal to 0, that
The traction control unit of other side headstock feeds back an instruction equal to 1, the other side to the traction control unit of certain side headstock
The instruction 0 received is combined into 01 signal with the instruction 1 sent by the traction control unit of headstock, confirms the traction of other side headstock
Control unit is a vehicle control unit；The traction control unit of certain side headstock receives the instruction equal to 1, and the instruction 1 received is same
The instruction 0 of transmission is combined into 10 signals, confirms that the traction control unit of certain side headstock is from vehicle control unit.
2. the control method of guide rail electric car according to claim 1, it is characterised in that the low-voltage equipment self-test state,
To detect respective terminal state, main contactor state, contactor state, pre-charge contactor state, direct current in high-voltaghe compartment respectively
Busbar voltage state, motor threephase stator current status, accelerator pedal signal state, brake range state.
3. the control method of guide rail electric car according to claim 1, it is characterised in that in head vehicle control unit and from vehicle control
Before unit processed detects the instruction from headstock control room and executes instruction, head vehicle control unit and pre- from the detection of vehicle control unit
Charging signals if precharge failure, in situ to wait, and quote preliminary filling electric fault；If precharge is completed, guide rail electric car enters fortune
Row armed state.
4. the control method of guide rail electric car according to claim 1 or 2 or 3, it is characterised in that the traction in each headstock
Control unit obtains 24V direct current, is initialized, and when initialization, sets a state variable step, initial value is given as 1, often
Traction control unit in a headstock detects step=1, into low-voltage equipment self-test state, if detected in the event of failure, and report
Self-test does not complete, and returns to starting end self-test again；If enabling step=2, the traction control list in each headstock without failure
Member detects step=2, illustrates that self-test has been completed.
5. the control method of guide rail electric car according to claim 4, it is characterised in that head vehicle control unit detects contact
Device switch knob signal is 001 signal, and explanation is traction accumulator power supply, makes corresponding with storage battery power supply in high-voltaghe compartment contact
Device closure；Head vehicle control unit detects that contactor switch knob signal is 010 signal, and explanation is workshop power supply power supply, makes height
Press contactor closure corresponding with workshop power supply power supply in case；Head vehicle control unit detects that contactor switch knob signal is
100 signals, explanation are power grid power supplies, make contactor closure corresponding with power grid power supply in high-voltaghe compartment；Contactor closes in high-voltaghe compartment
After the completion of conjunction, setting a vehicle and selecting ok mark power_flag from the power supply of vehicle control unit is 1；If the contact in high-voltaghe compartment
Device closure failure, setting a vehicle and selecting ok mark power_flag from the power supply of vehicle control unit is 0.
6. the control method of guide rail electric car according to claim 5, it is characterised in that head vehicle control unit and from vehicle control
The instruction of unit detection direction exits the program if not detecting the direction instruction from head vehicle, claps again to next
Detection direction；It is instructed if detected from the direction that head vehicle gives, carries out next step emergency braking judgement；
Head vehicle control unit and from vehicle control unit detection emergency braking instruction, if detect from head vehicle give it is urgent
Braking instruction then executes emergency braking relevant action, has executed backed off after random；If do not detect from head vehicle give it is urgent
Braking instruction then carries out next step emergency operating judgement；
Head vehicle control unit and from vehicle control unit detection emergency operating instruction, if detect from head vehicle give emergency
Operating instruction then executes emergency operating relevant action, has executed backed off after random；If not detecting the emergency given from head vehicle
Operating instruction then carries out braking enabled judgement in next step；
Head vehicle control unit and from the enabled instruction of vehicle control unit detection braking, if detecting the braking given from head vehicle
Enabled instruction, then the relevant action of actuating motor damped condition, has executed backed off after random；If do not detected given from head vehicle
The enabled instruction of braking, then carry out drawing enabled judgement in next step；
Head vehicle control unit and from the enabled instruction of vehicle control unit detection traction, if detecting the traction given from head vehicle
Enabled instruction, then the relevant action of actuating motor traction working condition, returns to the detection of the enabled instruction of traction after having executed；If no
Detect the enabled instruction of traction given from head vehicle, then back to the detection of the enabled instruction of braking.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710378964.3A CN107139779B (en) | 2017-05-25 | 2017-05-25 | The control method of guide rail electric car |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710378964.3A CN107139779B (en) | 2017-05-25 | 2017-05-25 | The control method of guide rail electric car |
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| Publication Number | Publication Date |
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| CN107139779A CN107139779A (en) | 2017-09-08 |
| CN107139779B true CN107139779B (en) | 2019-04-19 |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109733199B (en) * | 2019-01-17 | 2020-02-18 | 中铁第四勘察设计院集团有限公司 | High-voltage isolation system applied to energy storage device of tramcar |
| CN110514458A (en) * | 2019-09-20 | 2019-11-29 | 中车大连机车车辆有限公司 | Locomotive self-test method and locomotive test method based on the interaction of driver's display screen |
| CN110834545B (en) * | 2019-10-18 | 2022-11-22 | 中车永济电机有限公司 | Power supply system of guide rail electric car and control method thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102294963A (en) * | 2011-06-09 | 2011-12-28 | 上海中科深江电动车辆有限公司 | Double-motor double-energy compound driving system |
| CN105291887B (en) * | 2015-11-20 | 2018-03-09 | 南车株洲电力机车研究所有限公司 | The bi-motor moment of torsion distribution control method of rubber tire low-floor intelligent track train |
| CN106004448B (en) * | 2016-05-18 | 2019-02-26 | 福开尔（西安）电气有限公司 | A kind of electric locomotive high tension loop is isolated and double main disconnected redundant circuit systems naturally |
| CN205945768U (en) * | 2016-07-21 | 2017-02-08 | 中铁二院重庆勘察设计研究院有限责任公司 | On -vehicle two -node cluster hot backup system of guide rail trolley -bus |
| CN106059725A (en) * | 2016-07-21 | 2016-10-26 | 中铁二院重庆勘察设计研究院有限责任公司 | Vehicle-mounted dual hot standby system for rail tram |
| CN106218424B (en) * | 2016-08-25 | 2018-09-25 | 中车唐山机车车辆有限公司 | Electric rail car group high-pressure system and electric rail car group |
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